RoboGlove-A Grasp Assist Device for Earth and Space

The RoboGlove is an assistive device that can augment human strength, endurance or provide directed motion for use in rehabilitation. RoboGlove is a spinoff of the highly successful Robonaut 2 (R2) system developed as part of a partnership between General Motors and NASA. This extremely lightweight device employs an actuator system based on the R2 finger drive system to transfer part or the entire grasp load from human tendons to artificial ones contained in the glove. Steady state loads ranging from 15 to 20 lbs. and peaks approaching 50 lbs. are achievable. Work is underway to integrate the RoboGlove system with a space suit glove to add strength or reduce fatigue during spacewalks. Tactile sensing, miniaturized electronics, and on-board processing provide sufficient flexibility for applications in many industries. The following describes the design, mechanical/electrical integration, and control features of the glove in an assembly-line configuration and discusses work toward the space suit application.